DOOCS Overview. DOOCS Tutorial. Overview. Architecture. Object Orientation. Device Server - Middle Layer Server. Communications.

Transcription

1 DOOCS Tutorial DOOCS Overview Kay Rehlich Overview Architecture Object Orientation Device Server - Middle Layer Server Communications Applications Kay Rehlich 1

2 Overview Application Layer Communication Middle Layer Device Layer Kay Rehlich 2

3 DOOCS Architecture Display Distributed System Display Applications Display Functions API Server Names Data Base of Server Names Data Base of Server Names Server Name Data Base Device Definitions on Server Archiving in all Servers Based on RPC RPC Communication Ethernet Multiple Protocols Variable Data Objects Device Data Transfer Access Control C++ Equipment Functions Equipment Functions Archiver and Configuration Data Base Rich Library Runs on: Solaris/LINUX/(Windows) Devices Devices Kay Rehlich 3

4 DOOCS Architecture (2) Client Layer Office Console Display DOOCS applications MATLAB applications LABView applications ROOT applications Middle Layer File, Autom. DataBase Server gateways with archiving file systems data bases FSM finite state machines equipment name server network independence Front-end Device Layer Field Bus Device Server I/O PLC Ethernet distributed device servers with local archiving and configuration files hardware: VME PC fieldbusses: SEDAC ProfiBus CAN GPIB RS232 Kay Rehlich 4

5 Sub-System Integration X-Window Display The display is by default remote Application DOOCS Object Oriented API DOOCS RPC CA TINE All application programs are using the same API The API talks three protocols Gateway Archiver Gateway Archiver Other systems are connected by gateways Shared file or shared memory Gateway communication by shared file or memory or protocol Other server EPICS / TINE server DOOCS server Different server processes Kay Rehlich 5

6 Object Orientation e- Display ON / OFF.. Position.. Camera Contr. Motor... Contr. ON / OFF.. Position.. Camera Contr. Motor... Contr. Device Server on off Hardware in M out M Kay Rehlich 6

7 Object Orientation (Different Views) Overview of one Device Draw one Object, reuse it Click on Object ==> show details Draw one window, reuse it Kay Rehlich 7

8 j Object Orientation (Device Server) Network device properties with network access Voltage Pressure Voltage Pressure value in engineering units Server Conversion Conversion... Conversion Conversion convert raw data into engineering units On/Off Read HV Read I On/Off Read HV Read I read the raw data from device Device (example: ion pump) Power Supply HV I... Power Supply ~ 60 different device servers HV I at location A at location B Kay Rehlich Kay Rehlich 8

9 Device Server Summery controls the devices of one type device instances are accessible by location names represents the device attributes on the network accessible by property names controls and checks all functions of a device including failure handling receives and sends data objects: simple data types: integer, float.. structures: device address, filter.. arrays: history, spectrum.. stores the local configuration and status restoration of the device status after booting archives local values values are stored in local files has individual access protection Kay Rehlich 9

10 Server Library Server Process Network Class Equipment_Function ( Defines one Device Instance ) Data_Function Float Data RPC a device instance and all properties are named objects on the network Archive Method Data_Function History Archive Get Set Names Data_Function Control Config. Configuration DataBase Update Init.... Data_Function Hardw.Para. I/O Hardware Kay Rehlich 10

11 Available Device Servers ADC (14bit, 10MHz): RF BPM (X/Y, IQ input) Toroid MCP (Multi Channel Plate) Phase, Dark Current, Faraday, PYRO, Laser.. RF: DSP Klystron IQ Driver (Function Generator) Calibration Data Base WG Motors Piezo Controls Slow ADC LabVIEW Link Timing: Timer Clock RepRate Digital Delay Utilities: Water Temperatures (2 different) Recorder Calc Mean UND Wire Alignment Scope Digital I/O Laser: RT Process Power Supplies Pattern Generator PLC (Interlock) MPS: Beam Inhibit System (PLC) Photo Multiplier Control Photo Multiplier HV Beam Loss (3 different systems) Kay Rehlich 11

12 Available Device Servers (2) Vacuum: Beam Valves Ion Pump TSP Pump Station for ISO Pump Station for Beam Pipe Pirani Gauges Penning Gauges Mass Spectrometer Leak Detector Furnace Diag: BPM gain control Motors (OTR, Collimator, Quads, Laser..) Pneumatic devices Camera Controls INFN ODCS Interface (OTR) Magnets: Power Supplies (MST) Piloterm (MST) Error Status Data Base Knob Box Kryo Interface to Contr. Measurements Loss Calculations System: Watchdog Container Crates (SNMP) Ethernet (SNMP) VME Crates (Zeuthen) Kay Rehlich 12

13 Finite State Machine Transition Set: IF button = pressed Ped. = red Car = green IF time >= 10 sec. Set: Set: Ped. = red Ped. = red Car = red/yellow Car = Yellow State IF time >= 10 sec. Set: Ped. = green Car = red IF time >= 20 sec.... Transition Set: IF button = pressed Ped. = red Car = green IF time >= 10 sec. Set: Set: Ped. = red Ped. = red Car = red/yellow Car = Yellow State IF time >= 10 sec. Set: Ped. = green Car = red IF time >= 20 sec. Client: shows status creates the states Finite State Machines for TTF2 standard DOOCS interface LLRF Gun Transition Set: Ped. = red Car = green IF button = pressed LLRF ACC1 IF time >= 10 sec. Set: Ped. = red Car = red/yellow FSM Set: Ped. = red Car = Yellow LLRF ACC2-ACC3 IF time >= 10 sec. IF time >= 20 sec. Set: Ped. = green Car = red State LLRF ACC4-ACC6 Server A Server B has access to all devices Laser... Devices of type A Devices of type B Kay Rehlich 13

14 Middle Layer Server (2) DAQ Kay Rehlich 14

15 Client Applications ddd (DOOCS Data Display) to setup and control all devices to start all applications MATLAB to simulate e.g. the RF system to do measurements and write ad-hoc applications ROOT to display the Data AcQuisition system to display and control the orbit, measure the phase LabVIEW to condition couplers and cavities, to operate the test stands to operate the OTR system Save & Restore and Utilities to save and restore linac settings to manage device configurations elogbook and other Web Services to store comments, results and error messages to display documentation Kay Rehlich 15

16 API Structure Application Program or Server FORTRAN, C, LabVIEW C & LabVIEW Interface C++ C++ Client Lib. Multi Protocol Interface API Shared Library DOOCS call EPICS call TINE call fac dev loc Resolved Names and Data Buffers NameServer call RPC CA TINE ENS -RPC Ethernet Kay Rehlich 16

17 Sequence of a Client Call Client_lib Name server Server_lib User prog. get() API lib. RPC lib. ens_get() XDR RPC lib. ENS. RPC lib. Server stubs. eq_fct. d_fct. Device function XDR rpc_eq_get() XDR first call only find device Network get() find property value() read VME Kay Rehlich, sequence_client_read get_time().. free buffer 2. call XDR get add. data from 1. call int float DATA_FLOAT eq_rpc_server.cc Sequence diagram: client get call Kay Rehlich 17

18 Equipment Name Server: Name Resolution resolved in ENS Device A server location1/ n_properties location2/ n_properties... locationm/ n_properties facility1 / device_a device_b facility2 / device_c device_d / location_i location_ii location_iii location_iv location_v server_mask Device B server location1/ n_properties location2/ n_properties... locationo/ n_properties Device C server location1/ n_properties location2/ n_properties... locationp/ n_properties Device D server location_i/ n_properties location_ii/ n_properties facility / device / location / property Device D server location_iii/ n_properties location_iv/ n_properties location_v/ n_properties Kay Rehlich 18

19 API Classes get set names get_monitor update clear_monitor disconnect_all EqCall adr merge facility device location property show_adr operator = EqAdr result = eq.get (&adr, &data) time time_string error type type_string length get_int get_float get_string get_tds get_spectrum set_type set... EqData New MT Version: int s = eq.get (&adr, &in_data, &result) Kay Rehlich 19

20 #include eq_client.h EqAdr ea; EqData ed; EqData *result; EqCall* eq; API Example void eq_read_and_print(char* address) { if (!eq) eq = new EqCall; ea.adr (address); result = eq->get (&ea, &ed); printf ( Data of: %s/%s/%s/%s = %s, ea.facility(), ea.device(), ea.location(), ea.property(), result->get_string() ); ea.merge ( ///.EGU ); result = eq->get (&ea, &ed); printf ( [%s]\n, result->get_string_arg() ); } main() { // Call to DOOCS server: eq_read_and_print ( TTF.VAC/ION_PUMP/V_1/P ); // Call to TINE server: eq_read_and_print ( HERA.PKTR/HERA/P-STROM/VALUE ); } Data of: TTF.VAC/ION_PUMP/V_1/P = e-11 [mbar] Data of: HERA.PKTR/HERA/P-STROM/VALUE = 1.23 [ma] Kay Rehlich 20

21 Read Data of One Macro Pulse from all Locations: API Example (2) main() { EqAdr ea; EqData ed, *result; EqCall* eq; int sys_mask, buffer, i1, i2, l; eq = new EqCall; // prepare read of all locations: // ea.adr ("TTF.DIAG/ADC/*/CH00"); // from all locations sys_mask = -1; // sys_mask -1: all buffer = 12; // macro pulse 12 i1 = 0; ed.set(sys_mask, buffer, i1, i1); result = eq->get (&ea, &ed); // ============================= } l = result->length(); for (i1=0; i1 < l; i1++) { printf ("Data = %g\n", result->get_float(i1) ); } Kay Rehlich 21

22 DOOCS Data Types name content description DATA_NULL - empty struct DATA_INT int integer DATA_A_INT int<> ARRAY of int s DATA_BOOL int boolean as int (0= false, 1=true) DATA_FLOAT float float DATA_A_FLOAT float<> ARRAY of Floats DATA_STRING char[16] max. 16 byte string as pointer DATA_STRING16 char[16] max. 16 byte string DATA_USTR DATA_A_USTR DATA_TDS DATA_A_TDS string with additional info int integer data; float float1 data; float float2 data; time_t time char str_data<max80 char> ==> list of spectra, list of comments, names call data USTR d_ustr_array<> ARRAY of union, String time_t float u_char ==> history entry Time Data Status TDS d_tds_array<> ARRAY of history entries ==> history Kay Rehlich 22

23 DOOCS Data Types (2) name content description DATA_IIII ==> device addr./data (SEDAC, Profibus) int int1_data line int int2_data crate int int3_data module int int4_data data DATA_IFFF ==> digital filter, hist filter,.. int int1_data type of filter float float1_data delta float float2_data min. float float3_data DATA_TTII DATA_SPECTRUM ==> request of historical data time_t time 1 from time time_t time 2 to time int int1_data; int int2_data; ==> spectrum, transient record, scope, histogram char comment<> what and why time_t time time stamp of spectrum float first sample (offset) float increment per sample u_char status float d_spect_array<> array with samples Kay Rehlich 23

24 DOOCS Data Types (3) name content description DATA_A_BYTE ==> image or byte array int # of elements in x direction int # of elements in y direction int start of elements in x direction int start of elements in y direction int option u_char d_byte_array<>; array with bytes (image) DATA_XY ==> beam monitor entry float x_data; X float y_data; Y u_char status; Status DATA_A_XY ==> beam monitor d_xy_array<> DATA_FIS ==> data at location entry float f_data; data int i_data; location u_char status; status DATA_A_FIS ==> data at location d_fis_array<> Kay Rehlich 24

25 XDR: Platform Independent Data RPC generator creates the code for the client and server interface /* source: pvak_types.x Description of the equipment data block structure: */ struct EqDataBlock { time_t tm; <- time stamp int error; <- error code DataUnion data_u; <- data structure }; union DataUnion switch (int data_sel) { case DATA_INT : intd_int; case DATA_BOOL : intd_bool; case DATA_FLOAT : floatd_float; case DATA_STRING : chard_char<short_string_length>; case DATA_SPECTRUM: SPECTRUMd_spectrum; case... default : void; } rpcgen -C pvak_types.x --> pvak_types.h --> client stubs (.cc) --> server stubs (.cc) Kay Rehlich 25

26 API Address Class: Combine Addresses EqAdr ea; ea.adr ( TTF.DIAG/ADC/ACC1/P ) ea.merge ( / /ACC3/.HIST ) set the address combine with 2. address TTF.DIAG/ADC/ACC3/P.HIST <-- result ea.adr ( TTF.DIAG/ADC/ACC1/VAL ) set the address ea.merge ( / / /$l_$p.hist )combine:$f = facility part $d = device part $l = location part $p = property part TTF.DIAG/ADC/ACC1/ACC1_VAL.HIST<-- result Kay Rehlich 26

27 Shows all Properties of all Devices reads this info from ENS and the device servers Generic Client: rpc_test Plot device data Write to device Read from device Info from ENS Kay Rehlich 27

28 Plot f(time) Function of rpc_test Kay Rehlich 28

29 Plot f(location) Function of rpc_test Kay Rehlich 29

30 Tools: DOOCS get Shell tool to read all values of the control system doocsget -c TTF.VAC/PENNING/2ACC1.WG/P e-10 Has a lot of options: read multiple values read arrays read from addresses specified in a save&restore file send a range of interest with the request write MATLAB or Excel format Kay Rehlich 30

31 Tools: DOOCS get (2) DOOCS get example (read multiple ADC s of one macro pulse): set buf=" doocsget -c TTF.DIAG/ADC/INJ2.ADC5/CURRENT " doocsget -I $buf a -c "TTF.DIAG/ADC/ADC1/CH02.TD.AMPL TTF.DIAG/ADC/ADC5/CH02.TD.PHASE" TTF.DIAG/ADC/ADC1/CH02.TD.AMPL : # Data Type : SPECTRUM TTF.DIAG/ADC/ADC5/CH02.TD.PHASE : # Data Type : SPECTRUM Kay Rehlich 31

32 Tools: DOOCS put doocsput -c TTF.KRYO/CALCULATOR/_SVR/SVR.RATE -t 14 -d " " The valid types are: DATA_NULL = 0, DATA_INT = 1, DATA_FLOAT = 2, DATA_STRING = 3, DATA_BOOL = 4, DATA_STRING16 = 5, DATA_XY = 13, DATA_IIII = 14, DATA_IFFF = 15, DATA_A_USTR = 103, DATA_FIS = 17, DATA_TTII = 18 doocsput -f '/usr/ttfsvr3/ttflinac/sr/all_magnets_991209_6.sr' this will restore the values from the save&restore file doocsput -C -c ///.TARGET -f '/usr/ttfsvr3/ttflinac/sr/ all_magnets_ sr' takes the values of the device properties from the file, but will write into properties with the merged address. Example: property address in the file is: TTF.MAGNETS/DIPOLE/B1BC2/PS merge address (-c arg) is: ///.TARGET then the value from the file will be written into TTF.MAGNETS/DIPOLE/B1BC2/PS.TARGET Kay Rehlich 32

33 API: Shared Memory is standard part of the API (client lib) allows all programs on a local computer to exchange data without network uses the standard API functions: get, set, as the first character in the facility name selects the shared memory the first set command automatically creates an entry the owner can delete the entry: set_option(eqadr* adr, EqCall::EQ_SHM_DELETE) the created shared memory block consists of: bookkeeping block with number of devices, shm key, sizes.. name block contains the device names, data types and owner info data block hold the data Kay Rehlich 33

34 Example to Use the Shared Memory Program 1: Create the Shared Memory ea.adr i1 = 1234; ed.set(i1); result = eq->set (&ea, &ed); // create and set Shared Mem result = eq->get (&ea, &ed); while (result->get_int() == i1) { sleep(1); result = eq->get (&ea, &ed); // check if value has changed } printf ("Data is %i\n", result->get_int()); Program 2: Read the Shared Memory and Change it ea.adr ("@TEST/VERSUCH/LOC/VALUE"); result = eq->get (&ea, &ed); printf ("Data is %i\n", result->get_int()); i1 = 5678; ed.set(i1); result = eq->set (&ea, &ed); // modify Shared Mem Kay Rehlich 34

35 Shared Memory in rpc_test shared mem indicator Kay Rehlich 35

36 ddd: DOOCS Data Display (Edit) Design displays from components: draw one component and use it in other components.. Kay Rehlich 36

37 ddd (Run) In "RUN" mode: displays actual data and animated graphics Kay Rehlich 37

38 ddd Print Add comments Kay Rehlich 38

39 ddd: History Plots Activate History plot: click on a value Add data points: drag the value and drop it into the plot Kay Rehlich 39

40 ddd: Correlation Plots 1. select a time range 2. menu X/Y plot A time plot with multiple curves can be converted into a correlation plot and vice versa Kay Rehlich 40

41 ddd: Strip Chart and Spectrum Plot Strip Chart Spectrum Plot old data in different color Kay Rehlich 41

42 ddd: Synoptic Example Kay Rehlich 42